CN117941842A

CN117941842A - Coconut peeling machine

Info

Publication number: CN117941842A
Application number: CN202410171289.7A
Authority: CN
Inventors: 吴玉婷; 吴启超; 陈百利
Original assignee: Guangdong Vocational College Of Post And Telecom
Current assignee: Guangdong Vocational College Of Post And Telecom
Priority date: 2024-02-06
Filing date: 2024-02-06
Publication date: 2024-04-30

Abstract

The invention discloses a coconut peeling machine, which comprises a frame, a carrying device, a gripper device and a cutting knife, wherein the carrying device comprises a lifting device and a carrier, the cutting knife is fixed on the frame and is provided with a tool bit positioned above the carrier, the gripper device comprises a driving component, a first gripper and a second gripper which are arranged above the carrier and are positioned on two sides of the tool bit, a working area is formed between the tool bit and the first gripper as well as between the tool bit and the second gripper, the lifting device is used for conveying coconuts on the carrier to the working area so as to enable the cutting edges of the tool bit to be inserted into coconuts, and the driving component is used for driving the first gripper and the second gripper to move oppositely so as to grasp the coconuts; the driving assembly is used for driving the first gripper and the second gripper to rotate in the same direction so that the cutter head cuts an annular split on coconut husk; when the coconut husk is provided with a split, the driving assembly drives the first gripper to reversely rotate with the second gripper, so that the coconut husk is split into two halves along the split and separated from the coconut meat. The invention can simply and efficiently remove coconut skin of coconuts.

Description

Coconut peeling machine

Technical Field

The invention relates to a peeler, in particular to a coconut peeler.

Background

Coconut is a fruit suitable for all ages, and is generally composed of coconut husk, coconut meat and coconut juice from outside to inside. Wherein, the coconut juice and the coconut meat both contain rich nutrients and are edible; while coconut husk can be used as an industrial material.

Generally, people only need to open the parts with softer coconut ends when drinking the coconut juice, and in order to obtain coconut meat, the coconut skin with thick outer part of the coconut needs to be removed. Currently, when peeling coconut skin, a tool, such as a screwdriver with a sharp mouth, is usually used to open a hole at a position where the coconut skin is thin, and then the end of the screwdriver is gradually peeled off along the position where the coconut skin contacts with coconut meat. This manual approach is not only time consuming and laborious, but also sometimes can cause injury to the operator.

Disclosure of Invention

The invention aims to overcome the defects of the prior art and provide the coconut peeling machine capable of automatically peeling coconut skin, which not only can improve the working efficiency, but also can avoid injury to operators.

The technical scheme for solving the technical problems is as follows:

A coconut decorticator comprising: the coconut cutting device comprises a frame, a carrying device, a gripper device and a cutting knife, wherein the carrying device comprises a lifting device fixed on the frame and a carrying frame arranged at the top of the lifting device and used for accommodating coconuts, the cutting knife is fixed on the frame and provided with a knife head positioned above the carrying frame, the gripper device comprises a driving assembly arranged on the frame, a first gripper and a second gripper which are arranged above the carrying frame and positioned on two sides of the knife head, a working area is formed between the knife head and the first gripper and between the knife head and the second gripper, the lifting device is used for conveying coconuts on the carrying frame to the working area so that the knife edge of the knife head can be inserted into the coconuts, and the driving assembly is used for driving the first gripper and the second gripper to move oppositely so as to grasp the coconuts;

When the cutting edge of the cutter head is inserted into the coconut and the first gripper and the second gripper grip the coconut, the driving assembly drives the first gripper and the second gripper to rotate in the same direction so that the cutter head cuts an annular split on coconut husks of the coconut;

When the coconut husk of the coconut is provided with the split, the driving assembly drives the first gripper to reversely rotate with the second gripper so as to enable the coconut husk of the coconut to be split into two halves along the split and separate from the coconut meat of the coconut.

As the preferred scheme, drive assembly including locate the horizontal pole of carrier top, with horizontal pole sliding fit's first mount pad and second mount pad, be used for the drive first mount pad is followed the first linear motor of horizontal pole motion, be used for the drive the second mount pad is followed the second linear motor of horizontal pole motion, be fixed in on the first mount pad be used for driving first tongs pivoted first rotating motor and be fixed in on the second mount pad be used for driving second tongs pivoted second rotating motor, the cutting knife still have with cutter body that the tool bit is connected, the cutter body is fixed in on the horizontal pole.

As the preferred scheme, the cutter body is including supporting part and the arc portion that connects gradually, supporting part is fixed in on the horizontal pole, arc portion from bottom to top to the top of supporting part extends and towards the direction of workspace is crooked, the tool bit is fixed in the top of arc portion and its direction of cutting edge correspond with the direction of workspace.

Preferably, the cutter head has a structure with a wide upper part and a narrow lower part.

Preferably, the number of the cross bars is more than two, and the cross bars are arranged in parallel.

Preferably, the driving assembly further comprises a linear moving device and a base, wherein the linear moving device is arranged at the top of the frame and provided with a moving end capable of reciprocating in a direction approaching to and away from the carrier, one side of the base is fixed at the moving end, and the other side of the base is provided with the cross rod, the first linear motor and the second linear motor.

As a preferred scheme, the first gripper comprises a first bearing seat, a first rotating shaft, a first claw seat, a first annular seat, a first connecting piece, a third linear motor, a plurality of first claws and first connecting rods corresponding to the first claws in number, wherein the first bearing seat and the first rotating motor are respectively arranged at two sides of the first mounting seat, one end of the first rotating shaft penetrates through the first bearing seat and is connected with an output shaft of the first rotating motor, and the other end of the first rotating shaft is fixed at the center of the bottom of the first claw seat; the outer periphery of the first claw seat is provided with first pivot shafts corresponding to the first claws in number, and the middle part of each first claw is hinged on the corresponding first pivot shaft; the first annular seat is slidably sleeved on the first bearing seat, a plurality of first brackets corresponding to the first claws are arranged on the outer periphery of the first annular seat, and the other end of each first claw extending out of the first claw seat is configured as a fingertip part; one end of the first connecting rod is hinged with the first bracket, and the other end of the first connecting rod is hinged with one end of the corresponding first claw; the third linear motor is fixed on the first mounting seat and is on the same side as the first rotating motor, and an output shaft of the third linear motor is connected with the first annular seat through the first connecting piece and is used for driving the first annular seat to reciprocate along the axis direction of the first bearing seat.

As a preferred solution, the second gripper includes a second bearing seat, a second rotating shaft, a second jaw seat, a second annular seat, a second connecting piece, a fourth linear motor, a plurality of second jaws and second connecting rods corresponding to the second jaws in number, the second bearing seat and the second rotating motor are separately arranged at two sides of the second mounting seat, one end of the second rotating shaft passes through the second bearing seat and is connected with an output shaft of the second rotating motor, and the other end of the second rotating shaft is fixed at the bottom center of the second jaw seat; the outer periphery of the second claw seat is provided with second pivot shafts corresponding to the second claws in number, and the middle part of each second claw is hinged on the corresponding second pivot shaft; the second annular seat is slidably sleeved on the second bearing seat, a plurality of second brackets corresponding to the second claws are arranged on the outer periphery of the second annular seat, and the other end of each second claw extending out of the second claw seat is configured as a grabbing part; one end of the second connecting rod is hinged with the second bracket, and the other end of the second connecting rod is hinged with one end of the corresponding second claw; the third linear motor is fixed on the second mounting seat and is on the same side as the second rotating motor, and an output shaft of the fourth linear motor is connected with the second annular seat through the second connecting piece and is used for driving the second annular seat to reciprocate along the axis direction of the second bearing seat.

As a preferred scheme, the first claw comprises a first claw body and a first fingertip, the first claw body comprises a first installation part, a first S-shaped connection part and a first hinging part which are sequentially connected, a first pivoting hole which is in pivoting fit with the first pivoting shaft is formed in the middle of the first S-shaped connection part, and when the first S-shaped connection part is installed on the corresponding first pivoting shaft, the first installation part and the first hinging part which are connected with the end parts of the first claw body can bend towards one side opposite to the first bearing; the first fingertip is fixed on the first mounting part and is positioned on one side of the first mounting part opposite to the first bearing; the first fingertip and the first mounting part form a grabbing part of the first claw;

The second claw comprises a second claw body and a second finger tip, the second claw body comprises a second installation part, a second S-shaped connecting part and a second hinging part which are sequentially connected, a second pivoting hole which is in pivoting fit with the second pivoting shaft is formed in the middle of the second S-shaped connecting part, and when the second S-shaped connecting part is installed on the corresponding second pivoting shaft, the second installation part and the second hinging part which are connected with the end parts of the second claw body can bend towards one side opposite to the second bearing; the second finger tip is fixed on the second mounting part and is positioned on one side of the second mounting part opposite to the second bearing; the second fingertip and the second mounting portion form a gripping portion of the second claw.

Preferably, the first fingertip is conical, and the conical bottom of the first fingertip is fixed on the first mounting part; the second fingertip is conical, and the conical bottom of the second fingertip is fixed on the second mounting part.

Compared with the prior art, the invention has the following beneficial effects:

According to the coconut peeling machine disclosed by the embodiment of the invention, the object carrying device, the gripper device and the cutting knife are arranged on the frame, the object carrying device comprises the lifting device fixed on the frame and the object carrying frame arranged at the top of the lifting device and used for accommodating coconuts, the cutting knife is fixed on the frame and provided with the tool bit positioned above the object carrying frame, the gripper device comprises the driving component arranged on the frame, the rotatable first gripper and the rotatable second gripper which are arranged above the object carrying frame and positioned on two sides of the tool bit, and a working area is formed between the tool bit and the first gripper and between the tool bit and the second gripper. In this manner, the lifting device may deliver a coconut on the carrier to the work area such that the cutting edges of the cutter head are inserted into the coconut, and the drive assembly may then drive the first gripper and the second gripper to move toward each other to grasp the coconut. When the cutting edge of the cutter head is inserted into the coconut and the first gripper and the second gripper grip the coconut, the driving assembly can drive the first gripper and the second gripper to rotate in the same direction so that the cutter head cuts an annular split on coconut husks of the coconut; and then the driving assembly can drive the first gripper and the second gripper to reversely rotate so as to enable the coconut husk of the coconut to be split into two halves along the split and separated from the coconut meat of the coconut, thereby simply and conveniently removing the coconut husk of the coconut so as to improve the working efficiency. In addition, because manual operation is not needed in the coconut husk removing process, safety accidents can be avoided.

Drawings

FIG. 1 is a schematic view of the overall construction of a coconut decorticator according to an embodiment of the present invention;

FIG. 2 is a schematic view of a structure including a gripper device and a cutter according to an embodiment of the present invention;

FIG. 3 is a schematic view of a first embodiment of the present invention including a first gripper and a first rotary motor;

fig. 4 is a schematic view of an embodiment of the present invention, including a first gripper and a first rotary motor, without a first jaw.

Wherein, 100, coconut peeler; 200. coconut; 1. a gripper device; 11. a first grip; 111. a first bearing seat; 112. a first rotation shaft; 113. a first jaw seat; 114. a first annular seat; 115. a first connector; 1151. a first connection plate; 1152. a first slide bar; 116. a third linear motor; 117. a first jaw; 1171. a first jaw body; 11711. a first mounting portion; 11712. a first S-shaped connecting part; 11713. a first hinge part; 1172. a first fingertip; 118. a first link; 12. a second grip; 121. a second bearing seat; 122. a second rotation shaft; 123. a second jaw seat; 124. a second annular seat; 125. a second connector; 126. a fourth linear motor; 127. a second jaw; 128. a second link; 13. a cross bar; 14. a first mount; 141. a first linear motor; 142. a first rotating motor; 15. a second mounting base; 151. a second linear motor; 152. a second rotating motor; 16. a linear movement device; 17. a base; 2. a cutting knife; 21. a cutter head; 22. a cutter body; 221. a support part; 222. an arc-shaped portion; 3. a carrying device; 31. a lifting device; 32. a carrier rack; 4. a frame.

Detailed Description

The present invention will be described in further detail with reference to examples and drawings, but embodiments of the present invention are not limited thereto.

Referring to fig. 1 to 4, the coconut peeling machine 100 of the present invention comprises a frame 4, a carrying device 3, a gripper device 1 and a cutter 2, wherein the carrying device 3 may comprise a lifting device 31 fixed on the frame 4 and a carrier 32 arranged on the top of the lifting device 31 for accommodating a coconut 200, the cutter 2 is fixed on the frame 4 and has a cutter head 21 above the carrier 32, the gripper device 1 may comprise a driving assembly mounted on the frame 4, and a first gripper 11 and a second gripper 12 which are arranged above the carrier 32 and are arranged on two sides of the cutter head 21, and a working area is formed between the cutter head 21 and the first gripper 11 and the second gripper 12.

In use of the coconut decorticator 100, the coconut 200 to be cut is merely placed on the carrier 32, the lifting device 31 can move the coconut 200 on the carrier 32 to the working area to insert the knife edge of the knife 21 into the coconut 200, and then the driving assembly can drive the first gripper 11 and the second gripper 12 to move toward each other to grip the coconut 200. When the cutting edge of the cutter 21 is inserted into the coconut 200 and the first gripper 11 and the second gripper 12 grip the coconut 200, the driving assembly can drive the first gripper 11 and the second gripper 12 to rotate in the same direction so that the cutter 21 cuts an annular split on the coconut skin of the coconut 200; the driving assembly can drive the first gripper 11 and the second gripper 12 to rotate reversely, so that the coconut husk of the coconut 200 is split into two halves along the split and separated from the coconut meat of the coconut 200, and the coconut husk of the coconut 200 can be removed simply and conveniently, so that the working efficiency is improved. In addition, because manual operation is not needed in the coconut husk removing process, safety accidents can be avoided.

It will be appreciated that the movement of the first and second grippers 11, 12 and the movement of the carrier 32 can be achieved by pre-setting the drive assembly and the lifting device 31 which drive the movement thereof. Of course, a control system may be added to facilitate the regulation of the drive assembly and the lifting device 31.

To improve the stability of the driving assembly for driving the first gripper 11 and the second gripper 12 to move, the driving assembly may, for example, include a cross bar 13 disposed above the carrier 32, a first mounting seat 14 and a second mounting seat 15 slidably engaged with the cross bar 13, a first linear motor 141 for driving the first mounting seat 14 to move along the cross bar 13, a second linear motor 151 for driving the second mounting seat 15 to move along the cross bar 13, a first rotating motor 142 fixed on the first mounting seat 14 for driving the first gripper 11 to rotate, and a second rotating motor 152 fixed on the second mounting seat 15 for driving the second gripper 12 to rotate, where the cutter 2 further has a cutter body 22 connected with the cutter head 21, and the cutter body 22 is fixed on the cross bar 13.

In order to ensure that the cutter head 21 of the cutter body 22 can smoothly perform cutting the coconut skin of the coconut 200, the cutter body 22 may be exemplarily provided to include a supporting portion 221 and an arc portion 222 connected in sequence, wherein the supporting portion 221 is fixed on the cross bar 13, the arc portion 222 extends from bottom to top to above the supporting portion 221 and is bent toward the direction of the working area, and the cutter head 21 is fixed on the top end of the arc portion 222 and has a cutting edge direction corresponding to the direction of the working area, so that when the cutter head 21 is inserted into the coconut skin of the coconut 200, the supporting portion 221 and the arc portion 222 can apply a certain force to the cutter head 21 to ensure that the cutter head 21 can smoothly insert into the coconut skin; when the cutter head 21 cuts along the coconut husk, the arc-shaped portion 222 has a certain elasticity, so that the cutter head 21 can be adapted to coconut husk with different thickness, thereby further ensuring that the cutting operation can be smoothly performed. Preferably, the cutter head 21 may be configured to have a wide upper portion and a narrow lower portion, so as to further ensure that the cutter head 21 can be smoothly inserted into the coconut husk. In addition, the number of the cross bars 13 may be more than two, and the cross bars 13 may be arranged parallel to each other, so that the connecting portion may be firmly connected to the cross bars 13, thereby preventing the cutter body 22 from being displaced or bent.

In order to allow the first gripper 11 and the second gripper 12 to move along the frame 4 to move the removed coconut skin or the coconut meat with the removed coconut skin to a designated position, the driving assembly may further include a linear moving device 16 mounted on the top of the frame 4 and a base 17, wherein the linear moving device 16 has a moving end reciprocally movable in a direction approaching and separating from the carrier 32, and one side of the base 17 is fixed to the moving end, and the other side of the base 17 is mounted with the cross bar 13, the first linear motor 141 and the second linear motor 151.

In order that the first grip 11 and the second grip 12 may grip coconuts 200 of different sizes, the first grip 11 may include, for example, a first bearing housing 111, a first rotation shaft 112, a first jaw housing 113, a first ring housing 114, a first connector 115, a third linear motor 116, a plurality of first jaws 117, and first links 118 corresponding to the number of the first jaws 117. The first bearing seat 111 and the first rotating motor 142 are respectively disposed at two sides of the first mounting seat 14, one end of the first rotating shaft 112 passes through the first bearing seat 111 and is connected with an output shaft of the first rotating motor 142, and the other end of the first rotating shaft is fixed at the bottom center of the first claw seat 113, so as to drive the first claw seat 113 to rotate under the driving of the first rotating motor 142; the outer periphery of the first jaw seat 113 is provided with first pivot shafts corresponding to the first jaws 117 in number, and the middle part of each first jaw 117 is hinged to the corresponding first pivot shaft, so that the first jaw 117 can be driven to rotate when the first jaw seat 113 rotates.

Since the first annular seat 114 is slidably sleeved on the first bearing seat 111, a plurality of first brackets corresponding to the first claws 117 are arranged at the outer periphery of the first annular seat, one end of the first connecting rod 118 is hinged with the first brackets, the other end of the first connecting rod 118 is hinged with one end of the corresponding first claw 117, the third linear motor 116 is fixed on the first mounting seat 14 and is on the same side as the first rotating motor 142, and the output shaft of the third linear motor 116 is connected with the first annular seat 114 through the first connecting piece 115, so that the third linear single machine can drive the first annular seat 114 to reciprocate along the axis direction of the first bearing seat 111, and the first claws 117 extend out of the other ends, namely finger tips, of the first claws 113 to move towards and away from the axis direction of the first rotating shaft 112, thereby changing the size of the space of the finger tips of the first claws 117 and smoothly grabbing 200.

Of course, in order to adapt to the first gripper 11, the second gripper 12 may have the same configuration, that is, the second gripper 12 may include a second bearing seat 121, a second rotation shaft 122, a second jaw seat 123, a second ring seat 124, a second connecting member 125, a fourth linear motor 126, a plurality of second jaws 127, and second connecting rods 128 corresponding to the number of the second jaws 127, where the second bearing seat 121 and the second rotation motor 152 are separately disposed at two sides of the second mounting seat 15, one end of the second rotation shaft 122 is connected to an output shaft of the second rotation motor 152 through the second bearing seat 121, and the other end of the second rotation shaft 122 is fixed at a bottom center of the second jaw seat 123; the outer periphery of the second jaw seat 123 is provided with second pivot shafts corresponding to the second jaws 127 in number, and the middle part of each second jaw 127 is hinged to the corresponding second pivot shaft; the second annular seat 124 is slidably sleeved on the second bearing seat 121, the outer periphery of the second annular seat is provided with a plurality of second brackets corresponding to the second claws 127, and the other end of each second claw 127 extending out of the second claw seat 123 is configured as a grabbing part; one end of the second link 128 is hinged to the second bracket, and the other end thereof is hinged to one end of the corresponding second jaw 127; the third linear motor 116 is fixed on the second mounting seat 15 and is on the same side as the second rotating motor 152, and an output shaft of the fourth linear motor 126 is connected to the second annular seat 124 through the second connecting member 125, so as to drive the second annular seat 124 to reciprocate along the axial direction of the second bearing seat 121. In this way, by the cooperation of the first grip 11 and the second grip 12, the efficiency and stability of the grip device 1 during operation can be ensured.

In addition, the first connecting member 115 may be formed of a first connecting plate 1151 and a first sliding rod 1152, so that when the third linear motor 116 is connected to the first annular seat 114 through the first connecting member 115, other mechanisms are not affected and space is saved. Of course, the second connector 125 may also be configured as described above.

Further, in order to make the first jaw 117 and the second jaw 127 have high strength and make the fingertip portion have a wide movement range, the first jaw 117 may include a first jaw body 1171 and a first fingertip 1172, where the first jaw body 1171 may include a first mounting portion 11711, a first S-shaped connection portion 11712 and a first hinge portion 11713 connected in sequence, and a first pivot hole pivotally engaged with the first pivot shaft is provided in a middle portion of the first S-shaped connection portion 11712, and when the first S-shaped connection portion 11712 is mounted on the corresponding first pivot shaft, the first mounting portion 11711 and the first hinge portion 11713 connected to end portions thereof may be bent toward a side opposite to the first bearing; the first fingertip 1172 is fixed to the first mounting part 11711, and is positioned on a side of the first mounting part 11711 facing the first bearing; the first fingertip 1172 and the first mount 11711 form a grip portion of the first claw 117. The second claw 127 comprises a second claw 127 body and a second finger tip, the second claw 127 body comprises a second installation part, a second S-shaped connecting part and a second hinging part which are sequentially connected, a second pivoting hole which is in pivoting fit with the second pivoting shaft is formed in the middle of the second S-shaped connecting part, and when the second S-shaped connecting part is installed on the corresponding second pivoting shaft, the second installation part and the second hinging part which are connected with the end parts of the second S-shaped connecting part can bend towards one side opposite to the second bearing; the second finger tip is fixed on the second mounting part and is positioned on one side of the second mounting part opposite to the second bearing; the second fingertip and the second mounting portion form a gripping portion of the second jaw 127.

Preferably, the first fingertip 1172 may be tapered and the tapered bottom thereof is fixed to the first mounting part 11711; and the second fingertip is also conical, and the conical bottom of the second fingertip is fixed on the second mounting part. In this way, not only the connection strength between the first fingertip 1172 and the first mounting portion 11711, and between the second fingertip and the second mounting portion can be enhanced, but also the first mounting portion 11711 can generate a uniform acting force on the first fingertip 1172, and the second mounting portion can generate a uniform acting force on the second fingertip, so that the first fingertip 1172 and the second fingertip can be inserted into the coconut skin to smoothly and firmly grasp the coconut 200, thereby further ensuring that the coconut peeling machine 100 can stably operate in the coconut skin removing process to improve efficiency.

The foregoing is illustrative of the present invention and is not to be construed as limiting thereof, but rather as various changes, modifications, substitutions, combinations, and simplifications which may be made therein without departing from the spirit and principles of the invention are intended to be included within the scope of the invention.

Claims

1. A coconut decorticator, comprising: the coconut cutting device comprises a frame, a carrying device, a gripper device and a cutting knife, wherein the carrying device comprises a lifting device fixed on the frame and a carrying frame arranged at the top of the lifting device and used for accommodating coconuts, the cutting knife is fixed on the frame and provided with a knife head positioned above the carrying frame, the gripper device comprises a driving assembly arranged on the frame, a first gripper and a second gripper which are arranged above the carrying frame and positioned on two sides of the knife head, a working area is formed between the knife head and the first gripper and between the knife head and the second gripper, the lifting device is used for conveying coconuts on the carrying frame to the working area so that the knife edge of the knife head can be inserted into the coconuts, and the driving assembly is used for driving the first gripper and the second gripper to move oppositely so as to grasp the coconuts;

2. The coconut peeling machine of claim 1, wherein the drive assembly comprises a cross bar disposed above the carrier, a first mount and a second mount slidably engaged with the cross bar, a first linear motor for driving the first mount to move along the cross bar, a second linear motor for driving the second mount to move along the cross bar, a first rotary motor fixed to the first mount for driving the first gripper to rotate, and a second rotary motor fixed to the second mount for driving the second gripper to rotate, the cutter further having a cutter body coupled to the cutter head, the cutter body being fixed to the cross bar.

3. The coconut peeling machine of claim 2, wherein the cutter body comprises a supporting part and an arc part which are sequentially connected, the supporting part is fixed on the cross rod, the arc part extends from bottom to top to the upper part of the supporting part and bends towards the direction of the working area, and the cutter head is fixed at the top end of the arc part and the direction of the cutting edge corresponds to the direction of the working area.

4. A coconut peeling machine as claimed in claim 3 wherein the cutter head is of a wider top and narrower bottom configuration.

5. The coconut decorticator of claim 2 wherein the number of cross bars is more than two and each cross bar is disposed parallel to the other.

6. The coconut peeling machine of any of claims 2-5, wherein said drive assembly further comprises a linear motion device mounted to the top of said frame, said linear motion device having a movable end reciprocally movable in a direction toward and away from said carrier, and a base having one side secured to said movable end, said cross bar, said first linear motor and said second linear motor being mounted to the other side of said base.

7. The coconut peeling machine of claim 2, wherein the first gripper comprises a first bearing seat, a first rotating shaft, a first claw seat, a first annular seat, a first connecting piece, a third linear motor, a plurality of first claws and first connecting rods corresponding to the number of the first claws, the first bearing seat and the first rotating motor are respectively arranged at two sides of the first mounting seat, one end of the first rotating shaft passes through the first bearing seat and is connected with an output shaft of the first rotating motor, and the other end of the first rotating shaft is fixed at the bottom center of the first claw seat; the outer periphery of the first claw seat is provided with first pivot shafts corresponding to the first claws in number, and the middle part of each first claw is hinged on the corresponding first pivot shaft; the first annular seat is slidably sleeved on the first bearing seat, a plurality of first brackets corresponding to the first claws are arranged on the outer periphery of the first annular seat, and the other end of each first claw extending out of the first claw seat is configured as a fingertip part; one end of the first connecting rod is hinged with the first bracket, and the other end of the first connecting rod is hinged with one end of the corresponding first claw; the third linear motor is fixed on the first mounting seat and is on the same side as the first rotating motor, and an output shaft of the third linear motor is connected with the first annular seat through the first connecting piece and is used for driving the first annular seat to reciprocate along the axis direction of the first bearing seat.

8. The coconut peeling machine of claim 7, wherein the second gripper comprises a second bearing seat, a second rotating shaft, a second claw seat, a second annular seat, a second connecting piece, a fourth linear motor, a plurality of second claws and second connecting rods corresponding to the second claws, the second bearing seat and the second rotating motor are respectively arranged at two sides of the second mounting seat, one end of the second rotating shaft passes through the second bearing seat to be connected with an output shaft of the second rotating motor, and the other end of the second rotating shaft is fixed at the bottom center of the second claw seat; the outer periphery of the second claw seat is provided with second pivot shafts corresponding to the second claws in number, and the middle part of each second claw is hinged on the corresponding second pivot shaft; the second annular seat is slidably sleeved on the second bearing seat, a plurality of second brackets corresponding to the second claws are arranged on the outer periphery of the second annular seat, and the other end of each second claw extending out of the second claw seat is configured as a grabbing part; one end of the second connecting rod is hinged with the second bracket, and the other end of the second connecting rod is hinged with one end of the corresponding second claw; the third linear motor is fixed on the second mounting seat and is on the same side as the second rotating motor, and an output shaft of the fourth linear motor is connected with the second annular seat through the second connecting piece and is used for driving the second annular seat to reciprocate along the axis direction of the second bearing seat.

9. The coconut peeling machine of claim 8, wherein the first claw comprises a first claw body and a first fingertip, the first claw body comprises a first mounting part, a first S-shaped connecting part and a first hinging part which are sequentially connected, a first pivoting hole which is pivoted and matched with the first pivoting shaft is arranged in the middle of the first S-shaped connecting part, and when the first S-shaped connecting part is mounted on the corresponding first pivoting shaft, the first mounting part and the first hinging part which are connected with the end parts of the first claw body can be bent towards the opposite side of the first bearing; the first fingertip is fixed on the first mounting part and is positioned on one side of the first mounting part opposite to the first bearing; the first fingertip and the first mounting part form a grabbing part of the first claw;

10. The coconut peeling machine of claim 9, wherein said first fingertip is tapered and its base is fixed to said first mounting portion; the second fingertip is conical, and the conical bottom of the second fingertip is fixed on the second mounting part.